WO2022205610A1 - Robot de surface d'eau - Google Patents

Robot de surface d'eau Download PDF

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Publication number
WO2022205610A1
WO2022205610A1 PCT/CN2021/097915 CN2021097915W WO2022205610A1 WO 2022205610 A1 WO2022205610 A1 WO 2022205610A1 CN 2021097915 W CN2021097915 W CN 2021097915W WO 2022205610 A1 WO2022205610 A1 WO 2022205610A1
Authority
WO
WIPO (PCT)
Prior art keywords
casing
housing
driving
drive
assembly
Prior art date
Application number
PCT/CN2021/097915
Other languages
English (en)
Chinese (zh)
Inventor
李强
王凯甬
舒明瑞
王经纬
李明阳
郑修宇
张晓华
古锦韬
Original Assignee
清华大学深圳国际研究生院
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 清华大学深圳国际研究生院 filed Critical 清华大学深圳国际研究生院
Publication of WO2022205610A1 publication Critical patent/WO2022205610A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B22/00—Buoys
    • B63B22/24—Buoys container type, i.e. having provision for the storage of material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H19/00—Marine propulsion not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
    • B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B22/00—Buoys
    • B63B2022/006—Buoys specially adapted for measuring or watch purposes

Definitions

  • the invention relates to the technical field of water working robots, in particular to a water surface robot.
  • the present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the present invention proposes a water surface robot, which has high stability on the water surface and low damage to aquatic organisms.
  • the water surface robot in the embodiment of the present invention, it includes:
  • the shell is spherical, and the interior of the shell has a mounting cavity
  • a support assembly is located inside the installation cavity, the support assembly includes a support member and a roller, the rollers are not less than two, the rollers are installed on the outer end of the support member, and at least two of the rollers are located at the outer end of the support member. on the same diameter of the casing, and both the rollers are in contact with the inner wall of the casing and can roll relative to the inner wall of the casing;
  • a drive assembly located inside the installation cavity, the drive assembly is connected with the support, the drive assembly includes a drive element and a drive wheel, the drive element is connected with the drive wheel and is used for driving the drive wheel When rotated, the driving wheel contacts the inner wall of the casing and drives the casing to rotate, so that the casing moves relative to the water surface.
  • the center of gravity of the driving component and the supporting component is changed relative to the casing, so that the casing is rolled, so that the whole robot can move relative to the water surface, and the surface of the casing is relatively flat, which avoids The risk of intertwining with vegetation in the water will not cause harm to aquatic organisms; and since the rollers at the ends of the support are always in contact with the inner wall of the housing, and the drive assembly and the support assembly are interconnected, the components inside the housing can always be Keep the balance, prevent the shell from rolling over under the impact of wind and waves due to the difference in shape, and improve the stability of the shell on the water surface.
  • the support assembly divides the installation cavity into a first cavity and a second cavity, and the driving assembly is located in the first cavity.
  • a counterweight body is further included, and the counterweight body is located in the first cavity.
  • the roller is spherical
  • the end of the support member has a ball groove
  • part of the roller is embedded in the ball groove and can roll in the ball groove.
  • the outer surface of the housing is textured.
  • each of the driving wheels is connected with one of the driving elements.
  • the driving assembly further includes a base, the driving wheel is rotatably connected to an end of the base, and the counterweight is mounted on the base.
  • the driving assembly further includes a steering member, the steering member is mounted on the base, the steering member is connected with the driving wheel and is used to drive the driving wheel to turn.
  • a monitoring element is further included, the monitoring element is located inside the mounting cavity and mounted on the support.
  • the housing includes a plurality of housings, and the housings are detachably connected and combined to form the housing.
  • FIG. 1 is a schematic structural diagram of an embodiment of a water surface robot of the present invention
  • FIG. 2 is a schematic structural diagram of another embodiment of the support member in FIG. 1;
  • FIG. 3 is a schematic structural diagram of another embodiment of the roller in FIG. 1;
  • FIG. 4 is a schematic view of the structure of FIG. 1 after the casing is hidden.
  • Reference numerals housing 100 , installation cavity 110 , first cavity 111 , second cavity 112 ; support assembly 200 , support member 210 , rod member 211 , ball groove 212 , roller 220 ; drive assembly 300 , drive element 310 , the drive wheel 320, the base 330, the shaft 331; the counterweight 400; the monitoring element 500.
  • the azimuth description such as the azimuth or position relationship indicated by up, down, front, rear, left, right, etc.
  • the azimuth description is based on the azimuth or position relationship shown in the drawings, only In order to facilitate the description of the present invention and simplify the description, it is not indicated or implied that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.
  • an embodiment of the present invention provides a surface robot, which can be applied to surface operations.
  • the surface robot includes a casing 100 (part of the casing is hidden in FIG. 1 ), a support assembly 200 and a drive assembly 300 .
  • the casing 100 is spherical, and the interior of the casing 100 has an installation cavity 110 . Both the drive assembly 300 and the drive assembly 300 are installed in the installation cavity 110 , and the housing 100 protects the components located inside.
  • the support assembly 200 includes a support member 210 and a roller 220. There are no less than two rollers 220. The rollers 220 are mounted on the outer end of the support member 210.
  • At least two rollers 220 are located on the same diameter of the housing 100, and both It is in contact with the inner wall of the housing 100 and can roll relative to the inner wall of the housing 100 , so that the two rollers 220 at the end of the support 210 can always keep in contact with the inner wall of the housing 100 and prevent the support assembly 200 from shaking inside the housing 100 , which affects the smoothness of the rolling of the casing 100 .
  • the drive assembly 300 is connected to the support assembly 200.
  • the drive assembly 300 includes a driving element 310 and a driving wheel 320, the driving element 310 is connected with the driving wheel 320 and used to drive the driving wheel 320 to rotate, the driving wheel 320 is in contact with the inner wall of the housing 100, and there is a space between the driving wheel 320 and the inner wall of the housing 100.
  • the friction force when the driving wheel 320 rotates, will drive the casing 100 to roll, so that the casing 100 moves relative to the water surface.
  • the center of gravity of the driving assembly 300 and the supporting assembly 200 is changed relative to the casing 100 through the rotation of the driving wheel 320, so that the casing 100 rolls, and the outer surface of the casing 100 is flat, which avoids The risk of intertwining with vegetation in the water will not cause harm to aquatic organisms; and, since the roller 220 at the end of the support member 210 is always in contact with the inner wall of the housing 100, the combined structure of the support assembly 200 and the drive assembly 300 can It moves with the rolling of the casing 100 to generate a change in the center of gravity, so that the casing 100 is always kept in balance, avoids the casing 100 from rolling over under the impact of wind and waves due to the difference in shape, and improves the stability of the casing 100 during traveling.
  • the driving element 310 can be selected as a motor, a motor, or the like.
  • a non-slip coating can be provided on the surface of the driving wheel 320 and the inner wall of the housing 100 , such as epoxy anti-skid coating, polyurethane anti-skid coating, etc. on the surface of the driving wheel 320 ;
  • a silica gel layer, a rubber layer, etc. are pasted on the surface to increase the frictional force between the driving wheel 320 and the inner wall of the casing 100 and prevent the driving wheel 320 from slipping relative to the casing 100 .
  • the casing 100 floats on the water surface when traveling, in order to increase the viscous resistance between the casing 100 and the water surface, and to ensure that the casing 100 can move relative to the water surface under the driving of the driving wheel 320, the casing 100 can move on the surface of the casing 100.
  • the protrusions, or the surface of the casing 100 may be provided with a spiral pattern, so that the casing 100 can drain backwards when moving, thereby improving the traveling efficiency of the surface robot.
  • the support assembly 200 divides the installation cavity 110 into the first cavity 111 and the second cavity 112 , and the drive assembly 300 is located in the first cavity 111 , the support assembly 200 and the drive assembly 300 are combined inside the casing 100 to form an inner gravity assembly, the position of the center of gravity after the combination of the two is the position of the center of gravity of the inner gravity assembly, and the position of the center of gravity can follow the rotation of the driving wheel 320 relative to the casing 100 changes, thereby realizing the movement of the casing 100; in the casing 100, the internal gravity component is located in the first cavity 111, and the overall gravity of the components in the first cavity 111 is greater than the gravity of the components in the second cavity 112, even if When the casing 100 is impacted by wind and waves, the center of gravity of the inner gravity component is always located in the first cavity 111 , and the first cavity 111 is always located below the casing 100 , so that
  • the surface robot further includes a counterweight 400.
  • the counterweight 400 is located in the first cavity 111.
  • the counterweight 400 can be installed between the support assembly 200 and the drive assembly 300.
  • the support assembly 200, The counterweight 400 and the drive assembly 300 are combined to form an inner gravity assembly. Since the drive assembly 300 and the counterweight 400 are located on the same side of the support member 210, the inner gravity assembly can always be located in the first cavity 111, so that the overall center of gravity of the robot is located in the shell
  • the lower part of the body 100 facilitates the robot to maintain its balance and reduces the risk of the casing 100 tipping over.
  • the support member 210 is formed by splicing a plurality of rod members 211 into a frame shape, the plurality of rod members 211 are connected to each other at the center, and the rollers 220 are rotatably connected to both ends of the rod member 211 .
  • the support member 210 can also be set in other shapes. As shown in FIG. 1 , the support member 210 is in the shape of a plate, and the roller 220 is rotatably connected to the edge of the support member 210.
  • the plate-shaped support member 210 has a flat surface and can be other components.
  • the installation of 200 provides an installation basis to facilitate the mutual assembly between the support assembly 200 and other components.
  • a plurality of rollers 220 are provided at intervals along the outer contour of the support member 210 , and each roller 220 is in contact with the inner wall of the housing 100 .
  • each roller 220 is in contact with the inner wall of the housing 100 .
  • the interval between adjacent rollers 220 is the same , which is convenient for the support member 210 to maintain balance.
  • the four rollers 220 are evenly arranged on the outer circumference of the support member 210 .
  • the roller 220 can be spherical, the edge of the support 210 is provided with a ball groove 212 , and part of the roller 220 is embedded in the ball groove 212 and can roll in the ball groove 212 and relative to the inner wall of the housing 100 , so that the support 210
  • the housing 100 can move relative to each other in different directions, so that when the housing 100 rolls in different directions, the rollers 220 can both roll relative to the inner wall of the housing 100 to avoid the rollers 220 interfering with the movement of the housing 100 .
  • the drive assembly 300 further includes a base 330, the base 330 is located in the first cavity 111, the drive wheel 320 is rotatably connected to the end of the base 330, the counterweight 400 can be installed on the base 330, the base
  • the 330 is used for loading the driving wheel 320 , the driving element 310 , the supporting assembly 200 and the counterweight 400 , and the counterweight 400 can be placed at the center of the base 330 .
  • Four driving wheels 320 are provided, and the four driving wheels 320 are distributed in a rectangular shape and are respectively rotatably connected to four corners of the base 330.
  • a rotating shaft 331 can be set at the corners of the base 330. The driving wheels 320 and the rotating shaft 331 Turn the connection.
  • the four driving wheels 320 are located on the same plane to keep the base 330 balanced. Since the overall center of gravity of the robot is located at the lower part, after the robot is placed in the water, the water surface is roughly on the plane where the four driving wheels 320 are located, so that the robot can be stable on the water surface. It can also avoid excessive viscous resistance caused by the robot diving too deep into the water, which affects the traveling efficiency of the robot.
  • the surface robot further includes a battery, which is installed on the base 330 or accommodated in the interior of the counterweight 400.
  • the battery is electrically connected to the driving element 310 and is used to supply power to the driving element 310; the battery can be selected from a photovoltaic cell, which can absorb The solar energy is converted into electricity to power the drive assembly 300 without the need for battery charging or replacement.
  • Each driving wheel 320 is connected with a driving element 310, each driving element 310 can drive the driving wheel 320 independently, and a plurality of driving elements 310 can simultaneously drive the driving wheel 320 to rotate in the same direction and at the same speed, so that the housing 100 moves in this direction, or different driving elements 310 drive the driving wheels 320 to rotate at different speeds, and realize steering through differential speed, so that the housing 100 can move in all directions, enhancing the maneuverability and flexibility of the surface robot.
  • the surface robot also includes a signal transceiver and a control module.
  • the signal transceiver is installed on the support 210.
  • the signal transceiver is used to receive the control signal on the shore and transmit the signal to the control module.
  • the control module can pass the PLC system.
  • the drive assembly 300 is connected to actuate the drive element 310 to drive the drive wheel 320 to rotate or steer.
  • the steering of the driving wheel 320 can also be achieved by setting a steering member, for example, a steering member is provided in the driving assembly 300 , the steering member is mounted on the base 330 , and the steering member is connected with the driving wheel 320 and drives the driving wheel 320 to turn.
  • the steering member can be selected as a rack and pinion steering gear or a worm crank finger steering gear, so as to realize the steering of the driving wheel 320, so that the housing 100 can move in any direction, such as selecting a rack and pinion structure, one end of the rack is connected At the eccentric position of the driving wheel 320, the rack is moved by the rotation of the gear and pushes the steering member to turn.
  • the support member 210 is also equipped with a monitoring element 500.
  • the monitoring element 500 includes a sensor, a lens, etc., the sensor can perform ranging, alarm, etc., the lens can take pictures of the water surface environment, and the information monitored by the monitoring element 500 can be sent and received through signals. return to shore.
  • the monitoring element 500, the control module, and the signal transceiver can all be accommodated in the installation cavity 110, and will not be affected by the external environment to age or fail, and the components outside the housing 100 of the robot are The casing 100 is covered, so the robot can work in harsh environments with high reliability.
  • the monitoring element 500 may be installed in the second cavity 112 .
  • the casing 100 can be made of a transparent material, which is convenient for the monitoring element 500 to monitor the external environment.
  • the casing 100 also includes a plurality of casings, which can be detachably connected and combined to form the casing 100. By disassembling the casings, the components inside the casing 100 can be repaired and replaced; in order to improve the sealing performance of the casing 100, the Gaskets can be provided at the joints adjacent to the housing.

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Manipulator (AREA)
  • Toys (AREA)

Abstract

La présente invention concerne un robot de surface d'eau, comprenant un boîtier (100), un ensemble de support (200) et des ensembles d'entraînement (300). Le boîtier (100) est sphérique ; l'ensemble de support (200) comprend un élément de support (210) et des rouleaux (220) ; les rouleaux (220) sont montés sur des extrémités externes de l'élément de support (210) ; les rouleaux (220) sont tous en contact avec la paroi interne du boîtier (100) et aptes à rouler par rapport à la paroi interne du boîtier (100) ; des éléments d'entraînement (310) sont reliés à des roues motrices (320) et utilisés pour entraîner les roues motrices (320) en rotation ; les roues motrices (320) entrent en contact avec la paroi interne du boîtier (100), et entraînent le boîtier (100) en rotation, de telle sorte que le boîtier (100) se déplace par rapport à une surface d'eau. Les centres de gravité des ensembles d'entraînement (300) et l'ensemble de support (200) sont modifiés par rapport au boîtier (100) au moyen de la rotation des roues motrices (320), de telle sorte que le boîtier (100) est activé pour rouler ; les rouleaux (220) au niveau de parties d'extrémité de l'élément de support (210) sont toujours en contact avec la paroi interne du boîtier (100), de telle sorte que le boîtier (100) reste équilibré tout en se déplaçant vers l'avant, ce qui permet d'améliorer la stabilité du boîtier (100) dans un processus de déplacement.
PCT/CN2021/097915 2021-03-31 2021-06-02 Robot de surface d'eau WO2022205610A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110346451.0A CN113120163A (zh) 2021-03-31 2021-03-31 水面机器人
CN202110346451.0 2021-03-31

Publications (1)

Publication Number Publication Date
WO2022205610A1 true WO2022205610A1 (fr) 2022-10-06

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PCT/CN2021/097915 WO2022205610A1 (fr) 2021-03-31 2021-06-02 Robot de surface d'eau

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CN (1) CN113120163A (fr)
WO (1) WO2022205610A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116215759A (zh) * 2023-02-22 2023-06-06 国家海洋局南海调查技术中心(国家海洋局南海浮标中心) 一种用于海洋监测调查的海洋浮标及管理系统

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Publication number Priority date Publication date Assignee Title
CN1695905A (zh) * 2005-06-17 2005-11-16 北京航空航天大学 全方位运动球形机器人
CN201305049Y (zh) * 2008-12-13 2009-09-09 孔凡让 球形机器人装置
DE102010053443A1 (de) * 2010-12-06 2012-06-06 Deutsches Zentrum für Luft- und Raumfahrt e.V. Roboter
CN204184488U (zh) * 2014-10-22 2015-03-04 西安工程大学 载人球形机器人
CN206719346U (zh) * 2017-03-21 2017-12-08 坎德拉（深圳）科技创新有限公司 行走驱动组件及球形机器人
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116215759A (zh) * 2023-02-22 2023-06-06 国家海洋局南海调查技术中心(国家海洋局南海浮标中心) 一种用于海洋监测调查的海洋浮标及管理系统
CN116215759B (zh) * 2023-02-22 2023-10-03 国家海洋局南海调查技术中心(国家海洋局南海浮标中心) 一种用于海洋监测调查的海洋浮标及管理系统

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